From bfbfaaf68ebccb5417cf18b476ef0077884df618 Mon Sep 17 00:00:00 2001
From: Robotgir <47585672+Robotgir@users.noreply.github.com>
Date: Fri, 3 Mar 2023 15:45:08 +0100
Subject: [PATCH] [URDF] Adding inertial and using `find` for getting package
 paths for simulators to work (#13)

Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
---
 .../urdf/kr10r1100sixx_macro.xacro            | 38 +++++++++++-------
 kuka_kr10_support/urdf/kr10r1420_macro.xacro  | 38 +++++++++++-------
 kuka_kr10_support/urdf/kr10r900_2_macro.xacro | 40 +++++++++++--------
 .../urdf/kr120r2500pro_macro.xacro            | 28 ++++++-------
 kuka_kr150_support/urdf/kr150_2_macro.xacro   | 36 ++++++++++-------
 .../urdf/kr150r3100_2_macro.xacro             | 38 +++++++++++-------
 kuka_kr16_support/urdf/kr16_2_macro.xacro     | 28 ++++++-------
 kuka_kr210_support/urdf/kr210l150_macro.xacro | 28 ++++++-------
 kuka_kr3_support/urdf/kr3r540_macro.xacro     | 36 ++++++++++-------
 kuka_kr5_support/urdf/kr5_arc_macro.xacro     | 30 +++++++-------
 kuka_kr6_support/urdf/kr6r700sixx_macro.xacro | 38 +++++++++++-------
 kuka_kr6_support/urdf/kr6r900_2_macro.xacro   | 38 +++++++++++-------
 kuka_kr6_support/urdf/kr6r900sixx_macro.xacro | 36 ++++++++++-------
 .../urdf/lbr_iiwa_14_r820_macro.xacro         | 40 +++++++++++--------
 kuka_resources/urdf/common_properties.xacro   | 12 ++++++
 15 files changed, 298 insertions(+), 206 deletions(-)
 create mode 100644 kuka_resources/urdf/common_properties.xacro

diff --git a/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro b/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro
index e5591e61f..c1e3f017c 100644
--- a/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro
+++ b/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro
@@ -1,110 +1,118 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr10r1100sixx" params="prefix">
-    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/base_link.stl" />
         </geometry>
         <xacro:material_kuka_black />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_1.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_2.stl"/>
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_2.stl"/>
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_3.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_4.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_5.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/visual/link_6.stl" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1100sixx/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr10_support/urdf/kr10r1420_macro.xacro b/kuka_kr10_support/urdf/kr10r1420_macro.xacro
index e8dd683c5..77c672867 100644
--- a/kuka_kr10_support/urdf/kr10r1420_macro.xacro
+++ b/kuka_kr10_support/urdf/kr10r1420_macro.xacro
@@ -1,110 +1,118 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr10r1420" params="prefix">
-    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/base_link.stl" />
         </geometry>
         <xacro:material_kuka_black />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_1.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_2.stl"/>
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_2.stl"/>
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_3.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_4.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_5.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/visual/link_6.stl" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r1420/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr10_support/urdf/kr10r900_2_macro.xacro b/kuka_kr10_support/urdf/kr10r900_2_macro.xacro
index 3cc381a6d..88c5c96aa 100644
--- a/kuka_kr10_support/urdf/kr10r900_2_macro.xacro
+++ b/kuka_kr10_support/urdf/kr10r900_2_macro.xacro
@@ -1,110 +1,118 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr10r900_2" params="prefix">
-    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/base_link.stl" />
         </geometry>
         <xacro:material_kuka_ral_gray_aluminium />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_1.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_2.stl"/>
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_2.stl"/>
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_3.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_4.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_5.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_6.stl" />
         </geometry>
         <xacro:material_kuka_black />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
@@ -183,4 +191,4 @@
       <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
     </joint>
   </xacro:macro>
-</robot>
+</robot>
\ No newline at end of file
diff --git a/kuka_kr120_support/urdf/kr120r2500pro_macro.xacro b/kuka_kr120_support/urdf/kr120r2500pro_macro.xacro
index 08c4abc67..9715df28e 100644
--- a/kuka_kr120_support/urdf/kr120r2500pro_macro.xacro
+++ b/kuka_kr120_support/urdf/kr120r2500pro_macro.xacro
@@ -13,13 +13,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/base_link.dae" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/visual/base_link.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
@@ -33,13 +33,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_1.dae" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/visual/link_1.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
@@ -53,13 +53,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_2.dae"/>
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/visual/link_2.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
@@ -73,13 +73,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_3.dae" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/visual/link_3.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
@@ -93,13 +93,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_4.dae" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/visual/link_4.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
@@ -113,13 +113,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_5.dae" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/visual/link_5.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
@@ -133,13 +133,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_6.dae" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/visual/link_6.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr120_support)/meshes/kr120r2500pro/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr150_support/urdf/kr150_2_macro.xacro b/kuka_kr150_support/urdf/kr150_2_macro.xacro
index 9443d268a..23e3f8580 100644
--- a/kuka_kr150_support/urdf/kr150_2_macro.xacro
+++ b/kuka_kr150_support/urdf/kr150_2_macro.xacro
@@ -1,110 +1,118 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr150_2" params="prefix">
     <!-- LINKS -->
     <!-- base link -->
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/base_link.dae" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/visual/base_link.dae" />
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <!-- link 1 (A1) -->
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_1.dae" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/visual/link_1.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <!-- link 2 -->
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_2.dae"/>
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/visual/link_2.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_2.stl"  />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/collision/link_2.stl"  />
         </geometry>
       </collision>
     </link>
     <!-- link 3 -->
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_3.dae" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/visual/link_3.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_3.stl"  />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/collision/link_3.stl"  />
         </geometry>
       </collision>
     </link>
     <!-- link 4 -->
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_4.dae" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/visual/link_4.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_4.stl"  />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/collision/link_4.stl"  />
         </geometry>
       </collision>
     </link>
     <!-- link 5 -->
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_5.dae" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/visual/link_5.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <!-- link 6 -->
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_6.dae" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/visual/link_6.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150_2/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr150_support/urdf/kr150r3100_2_macro.xacro b/kuka_kr150_support/urdf/kr150r3100_2_macro.xacro
index c88cb4412..dce2e4746 100644
--- a/kuka_kr150_support/urdf/kr150r3100_2_macro.xacro
+++ b/kuka_kr150_support/urdf/kr150r3100_2_macro.xacro
@@ -1,118 +1,126 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr150r3100_2" params="prefix">
-    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <!-- LINKS -->
     <!-- base link -->
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/visual/base_link.stl" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <!-- link 1 (A1) -->
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/visual/link_1.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <!-- link 2 -->
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_2.stl"/>
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/visual/link_2.stl"/>
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_2.stl"  />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/collision/link_2.stl"  />
         </geometry>
       </collision>
     </link>
     <!-- link 3 -->
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/visual/link_3.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_3.stl"  />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/collision/link_3.stl"  />
         </geometry>
       </collision>
     </link>
     <!-- link 4 -->
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/visual/link_4.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_4.stl"  />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/collision/link_4.stl"  />
         </geometry>
       </collision>
     </link>
     <!-- link 5 -->
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/visual/link_5.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <!-- link 6 -->
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/visual/link_6.stl" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr150_support)/meshes/kr150r3100_2/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr16_support/urdf/kr16_2_macro.xacro b/kuka_kr16_support/urdf/kr16_2_macro.xacro
index da876834e..67a8cc742 100644
--- a/kuka_kr16_support/urdf/kr16_2_macro.xacro
+++ b/kuka_kr16_support/urdf/kr16_2_macro.xacro
@@ -13,13 +13,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/visual/base_link.dae" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/visual/base_link.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
@@ -33,13 +33,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/visual/link_1.dae" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/visual/link_1.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
@@ -53,13 +53,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/visual/link_2.dae"/>
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/visual/link_2.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
@@ -73,13 +73,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/visual/link_3.dae" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/visual/link_3.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
@@ -93,13 +93,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/visual/link_4.dae" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/visual/link_4.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
@@ -113,13 +113,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/visual/link_5.dae" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/visual/link_5.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
@@ -133,13 +133,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/visual/link_6.dae" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/visual/link_6.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr16_support/meshes/kr16_2/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr16_support)/meshes/kr16_2/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr210_support/urdf/kr210l150_macro.xacro b/kuka_kr210_support/urdf/kr210l150_macro.xacro
index 7fa4277c9..2c7778b6d 100644
--- a/kuka_kr210_support/urdf/kr210l150_macro.xacro
+++ b/kuka_kr210_support/urdf/kr210l150_macro.xacro
@@ -12,7 +12,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/base_link.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/base_link.dae"/>
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -21,7 +21,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/base_link.stl"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/collision/base_link.stl"/>
         </geometry>
       </collision>
     </link>
@@ -34,7 +34,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_1.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/link_1.dae"/>
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -43,7 +43,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_1.stl"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/collision/link_1.stl"/>
         </geometry>
       </collision>
     </link>
@@ -56,7 +56,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_2.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/link_2.dae"/>
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -65,7 +65,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_2.stl"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/collision/link_2.stl"/>
         </geometry>
       </collision>
     </link>
@@ -78,7 +78,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_3.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/link_3.dae"/>
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -87,7 +87,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_3.stl"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/collision/link_3.stl"/>
         </geometry>
       </collision>
     </link>
@@ -100,7 +100,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_4.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/link_4.dae"/>
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -109,7 +109,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_4.stl"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/collision/link_4.stl"/>
         </geometry>
       </collision>
     </link>
@@ -122,7 +122,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_5.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/link_5.dae"/>
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -131,7 +131,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_5.stl"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/collision/link_5.stl"/>
         </geometry>
       </collision>
     </link>
@@ -144,7 +144,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_6.dae"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/visual/link_6.dae"/>
         </geometry>
         <material name="">
           <color rgba="0.75294 0.75294 0.75294 1"/>
@@ -153,7 +153,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_6.stl"/>
+          <mesh filename="file://$(find kuka_kr210_support)/meshes/kr210l150/collision/link_6.stl"/>
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr3_support/urdf/kr3r540_macro.xacro b/kuka_kr3_support/urdf/kr3r540_macro.xacro
index b761ac121..aa3088537 100644
--- a/kuka_kr3_support/urdf/kr3r540_macro.xacro
+++ b/kuka_kr3_support/urdf/kr3r540_macro.xacro
@@ -1,110 +1,118 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr3r540" params="prefix">
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/visual/base_link.stl" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/visual/link_1.stl" />
         </geometry>
         <xacro:material_kuka_ral_pure_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/visual/link_2.stl" />
         </geometry>
         <xacro:material_kuka_ral_pure_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/visual/link_3.stl" />
         </geometry>
         <xacro:material_kuka_ral_pure_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/visual/link_4.stl" />
         </geometry>
         <xacro:material_kuka_ral_pure_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/visual/link_5.stl" />
         </geometry>
         <xacro:material_kuka_ral_pure_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/visual/link_6.stl" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr3_support)/meshes/kr3r540/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro
index 49aae45e1..02d09a513 100644
--- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro
+++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro
@@ -20,13 +20,13 @@
       <visual>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/visual/base_link.dae" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/visual/base_link.dae" />
         </geometry>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
@@ -49,13 +49,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/visual/link_1.dae" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/visual/link_1.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
@@ -78,13 +78,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/visual/link_2.dae"/>
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/visual/link_2.dae"/>
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/collision/link_2.stl"  />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/collision/link_2.stl"  />
         </geometry>
       </collision>
     </link>
@@ -107,13 +107,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/visual/link_3.dae" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/visual/link_3.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/collision/link_3.stl"  />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/collision/link_3.stl"  />
         </geometry>
       </collision>
     </link>
@@ -136,13 +136,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/visual/link_4.dae" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/visual/link_4.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/collision/link_4.stl"  />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/collision/link_4.stl"  />
         </geometry>
       </collision>
     </link>
@@ -165,13 +165,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/visual/link_5.dae" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/visual/link_5.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
@@ -194,13 +194,13 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/visual/link_6.dae" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/visual/link_6.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr5_support/meshes/kr5_arc/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr5_support)/meshes/kr5_arc/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
@@ -284,4 +284,4 @@
     </joint>
 
   </xacro:macro>
-</robot>
+</robot>
\ No newline at end of file
diff --git a/kuka_kr6_support/urdf/kr6r700sixx_macro.xacro b/kuka_kr6_support/urdf/kr6r700sixx_macro.xacro
index b672a7ae9..d48d3ad7c 100644
--- a/kuka_kr6_support/urdf/kr6r700sixx_macro.xacro
+++ b/kuka_kr6_support/urdf/kr6r700sixx_macro.xacro
@@ -1,111 +1,119 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find kuka_resources)/urdf/common_constants.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
 
   <xacro:macro name="kuka_kr6r700sixx" params="prefix">
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/base_link.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/base_link.dae" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_1.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_1.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r700sixx/visual/link_2.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r700sixx/visual/link_2.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r700sixx/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r700sixx/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_3.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_3.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r700sixx/visual/link_4.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r700sixx/visual/link_4.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r700sixx/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r700sixx/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_5.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_5.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_6.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_6.dae" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
@@ -176,4 +184,4 @@
       <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
     </joint>
   </xacro:macro>
-</robot>
+</robot>
\ No newline at end of file
diff --git a/kuka_kr6_support/urdf/kr6r900_2_macro.xacro b/kuka_kr6_support/urdf/kr6r900_2_macro.xacro
index bd7ddf70b..b083e452d 100644
--- a/kuka_kr6_support/urdf/kr6r900_2_macro.xacro
+++ b/kuka_kr6_support/urdf/kr6r900_2_macro.xacro
@@ -1,110 +1,118 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr6r900_2" params="prefix">
-    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/base_link.stl" />
         </geometry>
         <xacro:material_kuka_ral_gray_aluminium />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_1.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_2.stl"/>
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_2.stl"/>
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_3.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_4.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_5.stl" />
         </geometry>
         <xacro:material_kuka_ral_traffic_white />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/visual/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/visual/link_6.stl" />
         </geometry>
         <xacro:material_kuka_black />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr10_support/meshes/kr10r900_2/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr10_support)/meshes/kr10r900_2/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_kr6_support/urdf/kr6r900sixx_macro.xacro b/kuka_kr6_support/urdf/kr6r900sixx_macro.xacro
index a83fcdb94..e33076883 100644
--- a/kuka_kr6_support/urdf/kr6r900sixx_macro.xacro
+++ b/kuka_kr6_support/urdf/kr6r900sixx_macro.xacro
@@ -2,110 +2,118 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find kuka_resources)/urdf/common_constants.xacro"/>
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_properties.xacro"/>
 
   <xacro:macro name="kuka_kr6r900sixx" params="prefix">
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/base_link.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/base_link.dae" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_1.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_1.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/visual/link_2.dae"/>
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r900sixx/visual/link_2.dae"/>
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r900sixx/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_3.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_3.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/visual/link_4.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r900sixx/visual/link_4.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6r900sixx/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_5.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_5.dae" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_6.dae" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/visual/link_6.dae" />
         </geometry>
         <xacro:material_kuka_pedestal />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_kr6_support)/meshes/kr6_agilus/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_14_r820_macro.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_14_r820_macro.xacro
index f40ede686..65aab9982 100644
--- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_14_r820_macro.xacro
+++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_14_r820_macro.xacro
@@ -3,114 +3,122 @@
   <xacro:macro name="kuka_lbr_iiwa_14_r820" params="prefix">
     <!-- link list -->
     <link name="${prefix}base_link">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/base_link.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/base_link.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/base_link.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_1.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/link_1.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_1.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/link_1.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_2">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_2.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/link_2.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_2.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/link_2.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_3">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_3.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/link_3.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_3.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/link_3.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_4">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_4.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/link_4.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_4.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/link_4.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_5">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/link_5.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_5.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/link_5.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_6.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/link_6.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_6.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/link_6.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_7">
+      <xacro:default_inertial/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/visual/link_7.dae" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/visual/link_7.dae" />
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_14_r820/collision/link_7.stl" />
+          <mesh filename="file://$(find kuka_lbr_iiwa_support)/meshes/lbr_iiwa_14_r820/collision/link_7.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/kuka_resources/urdf/common_properties.xacro b/kuka_resources/urdf/common_properties.xacro
new file mode 100644
index 000000000..2cb528ef1
--- /dev/null
+++ b/kuka_resources/urdf/common_properties.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="default_inertial">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+    </inertial>
+  </xacro:macro>
+  
+</robot>